Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 300 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 300 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2675 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2075 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -148776.11 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -148776.11

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2075 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2675 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 300 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 165800,6246.108,-1301.820,36,1.9,36,-11.9 TGT_NAME GE

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.193,-0.103

_SM_DEPTHo 1.35 KALMAN_X -25225.4,-242.8,474.9,16040.1,-5979.6

_SM_ANGLEo -60.5 KALMAN_Y 97544.9,-414.0,-170.6,-227250.4,3267.6

GPS2 170420,6246.133,-1301.911,11,1.8,11,-11.9 MHEAD_RNG_PITCHd_Wd 130.0,37407,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027251 ALTIM_BOTTOM_PING 750.1,61.6

SM_CCo 21091,0.00,0.000,0,0,1827,263.45 _24V_AH 23.2,51.133

SM_GC 1.47,11.77,0.00,0.00,0.031,0.000,0.000,52,2673,1827,-10.93,-0.06,263.45 _10V_AH 10.1,29.405

IRIDIUM_FIX 6221.17,-1301.79,230798,111128 DATA_FILE_SIZE 50562,1007

TT8_MAMPS 0.028379 CAP_FILE_SIZE 132858,0

HUMID 1794 CFSIZE 260165632,239267840

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 280409,225800,6245.966,-1301.713,37,1.9,37,-11.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.15 SBE_CT 699 24 389.67

Roll_motor 123 93 267.19 SBE_O2 747 19 329.71

VBD_pump_during_apogee 354 1243 10211.03 WL_BB2F 573 105 1396.13

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.16 nil 0 0 0.00

Iridium_during_connect 44 160 163.47 nil 0 0 0.00

Iridium_during_xfer 169 223 878.91

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.71

TT8 1780 19 356.05

LPSleep 16588 2 366.92

TT8_Active 444 19 88.79

TT8_Sampling 2053 39 825.55

TT8_CF8 598 45 277.06

TT8_Kalman 33 81 27.56

Analog_circuits 1463 12 177.33

GPS_charging 0 0 0.00

Compass 2015 8 162.82

RAFOS 0 0 0.00

Transponder 45 30 13.76

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.38 0.000 2 0.000 0.000 47 2679 3076

62 -1.10 -146.6 3.4 -8.2 2 88 12.15 2.70 -7.88 0.000 4 0.159 0.091 2196 1258 3502

123 -1.10 -146.6 12.4 -7.8 4 129 0.00 2.65 0.00 0.000 6 0.000 0.069 2196 2676 3503

439 -1.10 -146.6 37.3 -8.1 20 442 0.00 2.15 0.00 0.000 4 0.000 0.094 2196 3786 3503

531 -1.10 -146.6 45.0 -8.4 24 535 0.00 2.03 0.00 0.000 6 0.000 0.058 2196 2677 3503

866 -1.10 -146.6 72.6 -8.3 40 867 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2677 3503

1174 -1.10 -146.6 98.1 -8.1 55 1175 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2677 3503

1483 -1.10 -146.6 123.2 -8.4 70 1484 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2677 3503

1793 -1.10 -146.6 148.5 -7.9 85 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2677 3503

2103 -1.10 -146.6 176.8 -10.0 100 2108 0.00 2.65 0.00 0.000 4 0.000 0.073 2196 1246 3503

2131 -1.10 -146.6 180.0 -10.4 101 2136 0.00 2.67 0.00 0.000 6 0.000 0.067 2196 2681 3503

2448 -1.10 -146.6 208.1 -8.3 116 2452 0.00 2.12 0.00 0.000 4 0.000 0.094 2196 3784 3503

2516 -1.10 -146.6 214.0 -8.6 119 2520 0.00 2.03 0.00 0.000 6 0.000 0.056 2196 2668 3503

2849 -1.10 -146.6 241.2 -8.0 135 2850 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2668 3503

3159 -1.10 -146.6 264.5 -7.2 150 3160 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2668 3502

3468 -1.10 -146.6 284.7 -6.5 165 3469 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3503

3777 -1.10 -146.6 303.3 -5.8 180 3778 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2667 3503

4087 -1.10 -146.6 322.7 -6.4 195 4091 0.00 2.17 0.00 0.000 4 0.000 0.091 2196 3789 3503

4148 -1.10 -146.6 327.1 -7.4 197 4154 0.00 2.03 0.00 0.000 6 0.000 0.057 2196 2673 3502

4464 -1.10 -146.6 348.1 -6.8 213 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2673 3503

4774 -1.10 -146.6 369.4 -7.0 228 4775 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2673 3503

5083 -1.10 -146.6 390.5 -6.8 243 5084 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2672 3503

5392 -1.10 -146.6 409.7 -6.2 258 5396 0.00 2.17 0.00 0.000 4 0.000 0.091 2196 3792 3503

5438 -1.10 -146.6 412.7 -6.6 260 5442 0.00 2.05 0.00 0.000 6 0.000 0.056 2196 2664 3502

5771 -1.10 -146.6 435.4 -6.8 276 5772 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2664 3503

6080 -1.10 -146.6 457.0 -7.1 291 6082 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2663 3502

6390 -1.10 -146.6 478.8 -7.0 306 6392 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2664 3503

6699 -1.10 -146.6 499.7 -6.7 321 6700 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2664 3502

7008 -1.10 -146.6 520.3 -6.4 336 7010 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2663 3503

7318 -1.10 -146.6 538.8 -5.8 351 7322 0.00 2.17 0.00 0.000 4 0.000 0.088 2196 3788 3503

7374 -1.10 -146.6 542.4 -6.7 353 7378 0.00 2.03 0.00 0.000 6 0.000 0.053 2196 2662 3503

7696 -1.10 -146.6 561.8 -6.2 369 7699 0.00 2.20 0.00 0.000 4 0.000 0.091 2196 3795 3503

7742 -1.10 -146.6 565.0 -7.2 371 7746 0.00 2.00 0.00 0.000 6 0.000 0.051 2196 2669 3503

8075 -1.10 -146.6 588.1 -6.9 387 8076 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2669 3503

8384 -1.10 -146.6 609.8 -7.0 402 8385 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2669 3503

8694 -1.10 -146.6 631.6 -7.0 417 8695 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2669 3503

9003 -1.10 -146.6 655.9 -8.0 432 9004 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2669 3502

9312 -1.10 -146.6 682.3 -8.6 447 9316 0.00 2.15 0.00 0.000 4 0.000 0.089 2196 3786 3502

9374 -1.10 -146.6 687.7 -9.3 449 9380 0.00 2.00 0.00 0.000 6 0.000 0.051 2196 2664 3503

9690 -1.10 -146.6 714.2 -8.2 465 9694 0.00 2.58 0.00 0.000 4 0.000 0.067 2196 1248 3502

9740 -1.10 -146.6 718.2 -8.7 467 9744 0.00 2.62 0.00 0.000 6 0.000 0.061 2196 2684 3502

10056 -1.10 -146.6 743.6 -8.4 482 10059 0.00 2.10 0.00 0.000 4 0.000 0.090 2196 3786 3501

10156 -1.10 -146.6 752.5 -8.6 486 10160 0.00 2.00 0.00 0.000 6 0.000 0.051 2196 2666 3502

10478 -1.10 -146.6 779.2 -8.7 502 10481 0.00 2.17 0.00 0.000 4 0.000 0.093 2196 3785 3502

10528 -1.10 -146.6 784.2 -10.2 504 10532 0.00 1.98 0.00 0.000 6 0.000 0.051 2196 2675 3502

10749 end dive: BOTTOM_OBSTACLE_DETECTED

state 10749 begin apogee

10758 -0.42 0.0 802.3 7.5 515 10886 0.75 0.00 124.70 1.243 6 0.099 0.000 2344 2077 2903

10886 end apogee: CONTROL_FINISHED_OK

state 10887 begin climb

10890 1.10 146.6 809.1 0.0 521 11022 1.55 2.72 122.80 1.203 4 0.054 0.061 2679 3494 2304

11278 1.13 169.8 799.9 5.4 538 11306 0.00 2.58 21.33 1.121 6 0.000 0.044 2679 2060 2209

11615 1.14 173.5 781.6 5.9 555 11625 0.00 2.72 4.88 0.827 4 0.000 0.064 2678 3505 2194

11738 1.14 173.5 773.5 6.5 560 11744 0.00 2.55 0.00 0.000 6 0.000 0.044 2679 2074 2194

12054 1.16 193.9 755.0 5.4 576 12079 0.00 2.78 18.77 1.121 4 0.000 0.067 2679 3500 2111

12131 1.19 218.2 750.6 5.3 579 12162 0.00 2.58 21.92 1.123 6 0.000 0.044 2679 2071 2012

12472 1.25 263.9 732.8 4.7 596 12518 0.15 2.75 39.60 1.151 4 0.040 0.066 2726 3498 1826

12546 1.25 263.9 727.9 6.8 599 12551 0.00 2.58 0.00 0.000 6 0.000 0.044 2726 2071 1826

12862 1.25 263.9 705.5 7.5 614 12867 0.00 2.55 0.00 0.000 4 0.000 0.058 2726 666 1826

12904 1.25 263.9 702.2 7.7 616 12908 0.00 2.50 0.00 0.000 6 0.000 0.038 2726 2088 1825

13230 1.25 263.9 675.0 8.3 632 13231 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2088 1825

13540 1.25 263.9 647.3 8.8 647 13541 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2088 1825

13849 1.25 263.9 620.0 9.0 662 13850 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2088 1825

14158 1.25 263.9 593.0 8.6 677 14162 0.00 2.58 0.00 0.000 4 0.000 0.065 2726 3494 1825

14220 1.25 263.9 587.3 8.7 680 14225 0.00 2.53 0.00 0.000 6 0.000 0.041 2726 2066 1825

14553 1.25 263.9 557.4 8.9 696 14555 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2066 1825

14863 1.25 263.9 529.3 9.0 711 14867 0.00 2.62 0.00 0.000 4 0.000 0.064 2726 3483 1825

14890 1.25 263.9 526.6 9.2 712 14895 0.00 2.50 0.00 0.000 6 0.000 0.042 2726 2072 1825

15206 1.25 263.9 496.9 9.3 727 15207 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2072 1825

15515 1.25 263.9 468.4 8.8 742 15519 0.00 2.60 0.00 0.000 4 0.000 0.064 2726 3482 1825

15549 1.25 263.9 465.6 8.4 743 15553 0.00 2.50 0.00 0.000 6 0.000 0.043 2726 2074 1825

15865 1.25 263.9 437.6 8.9 758 15866 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2074 1826

16174 1.25 263.9 410.1 8.9 773 16175 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2074 1826

16484 1.25 263.9 382.4 8.8 788 16485 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2074 1826

16792 1.25 263.9 355.2 8.8 803 16797 0.00 2.60 0.00 0.000 4 0.000 0.067 2726 3481 1826

16825 1.25 263.9 352.3 9.4 804 16831 0.00 2.53 0.00 0.000 6 0.000 0.046 2726 2066 1826

17141 1.25 263.9 323.7 9.2 820 17142 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2066 1827

17451 1.25 263.9 297.1 8.6 835 17452 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2066 1827

17760 1.25 263.9 272.7 7.5 850 17761 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2066 1827

18069 1.25 263.9 250.5 6.7 865 18073 0.00 2.65 0.00 0.000 4 0.000 0.068 2726 3484 1827

18097 1.25 263.9 248.4 7.2 866 18101 0.00 2.53 0.00 0.000 6 0.000 0.048 2726 2072 1827

18413 1.25 263.9 225.1 7.6 881 18414 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2072 1827

18722 1.25 263.9 199.4 8.5 896 18723 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2072 1827

19032 1.25 263.9 172.1 8.7 911 19036 0.00 2.65 0.00 0.000 4 0.000 0.070 2726 3488 1827

19065 1.25 263.9 168.9 10.0 912 19071 0.00 2.55 0.00 0.000 6 0.000 0.049 2726 2068 1827

19381 1.25 263.9 140.4 9.5 928 19382 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2068 1827

19691 1.25 263.9 112.4 8.7 943 19692 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2068 1827

20000 1.25 263.9 85.6 8.7 958 20004 0.00 2.55 0.00 0.000 4 0.000 0.064 2726 665 1828

20044 1.25 263.9 81.2 8.5 960 20049 0.00 2.47 0.00 0.000 6 0.000 0.041 2726 2072 1827

20367 1.25 263.9 53.5 8.7 976 20371 0.00 2.62 0.00 0.000 4 0.000 0.069 2726 3493 1828

20407 1.25 263.9 49.8 8.8 978 20411 0.00 2.55 0.00 0.000 6 0.000 0.050 2726 2074 1828

20740 1.25 263.9 22.0 8.2 994 20741 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2074 1828

20986 end climb: SURFACE_DEPTH_REACHED

state 20986 begin surface coast

21006 end surface coast: CONTROL_FINISHED_OK

state 21006 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	300	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2675	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2075	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-148776.11	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	165800,6246.108,-1301.820,36,1.9,36,-11.9	TGT_NAME	GE
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.193,-0.103
_SM_DEPTHo	1.35	KALMAN_X	-25225.4,-242.8,474.9,16040.1,-5979.6
_SM_ANGLEo	-60.5	KALMAN_Y	97544.9,-414.0,-170.6,-227250.4,3267.6
GPS2	170420,6246.133,-1301.911,11,1.8,11,-11.9	MHEAD_RNG_PITCHd_Wd	130.0,37407,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.027251	ALTIM_BOTTOM_PING	750.1,61.6
SM_CCo	21091,0.00,0.000,0,0,1827,263.45	_24V_AH	23.2,51.133
SM_GC	1.47,11.77,0.00,0.00,0.031,0.000,0.000,52,2673,1827,-10.93,-0.06,263.45	_10V_AH	10.1,29.405
IRIDIUM_FIX	6221.17,-1301.79,230798,111128	DATA_FILE_SIZE	50562,1007
TT8_MAMPS	0.028379	CAP_FILE_SIZE	132858,0
HUMID	1794	CFSIZE	260165632,239267840
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	280409,225800,6245.966,-1301.713,37,1.9,37,-11.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.15	SBE_CT	699	24	389.67
Roll_motor	123	93	267.19	SBE_O2	747	19	329.71
VBD_pump_during_apogee	354	1243	10211.03	WL_BB2F	573	105	1396.13
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.16	nil	0	0	0.00
Iridium_during_connect	44	160	163.47	nil	0	0	0.00
Iridium_during_xfer	169	223	878.91
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.71
TT8	1780	19	356.05
LPSleep	16588	2	366.92
TT8_Active	444	19	88.79
TT8_Sampling	2053	39	825.55
TT8_CF8	598	45	277.06
TT8_Kalman	33	81	27.56
Analog_circuits	1463	12	177.33
GPS_charging	0	0	0.00
Compass	2015	8	162.82
RAFOS	0	0	0.00
Transponder	45	30	13.76

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.38	0.000	2	0.000	0.000	47	2679	3076
62	-1.10	-146.6	3.4	-8.2	2	88	12.15	2.70	-7.88	0.000	4	0.159	0.091	2196	1258	3502
123	-1.10	-146.6	12.4	-7.8	4	129	0.00	2.65	0.00	0.000	6	0.000	0.069	2196	2676	3503
439	-1.10	-146.6	37.3	-8.1	20	442	0.00	2.15	0.00	0.000	4	0.000	0.094	2196	3786	3503
531	-1.10	-146.6	45.0	-8.4	24	535	0.00	2.03	0.00	0.000	6	0.000	0.058	2196	2677	3503
866	-1.10	-146.6	72.6	-8.3	40	867	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2677	3503
1174	-1.10	-146.6	98.1	-8.1	55	1175	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2677	3503
1483	-1.10	-146.6	123.2	-8.4	70	1484	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2677	3503
1793	-1.10	-146.6	148.5	-7.9	85	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2677	3503
2103	-1.10	-146.6	176.8	-10.0	100	2108	0.00	2.65	0.00	0.000	4	0.000	0.073	2196	1246	3503
2131	-1.10	-146.6	180.0	-10.4	101	2136	0.00	2.67	0.00	0.000	6	0.000	0.067	2196	2681	3503
2448	-1.10	-146.6	208.1	-8.3	116	2452	0.00	2.12	0.00	0.000	4	0.000	0.094	2196	3784	3503
2516	-1.10	-146.6	214.0	-8.6	119	2520	0.00	2.03	0.00	0.000	6	0.000	0.056	2196	2668	3503
2849	-1.10	-146.6	241.2	-8.0	135	2850	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2668	3503
3159	-1.10	-146.6	264.5	-7.2	150	3160	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2668	3502
3468	-1.10	-146.6	284.7	-6.5	165	3469	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3503
3777	-1.10	-146.6	303.3	-5.8	180	3778	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2667	3503
4087	-1.10	-146.6	322.7	-6.4	195	4091	0.00	2.17	0.00	0.000	4	0.000	0.091	2196	3789	3503
4148	-1.10	-146.6	327.1	-7.4	197	4154	0.00	2.03	0.00	0.000	6	0.000	0.057	2196	2673	3502
4464	-1.10	-146.6	348.1	-6.8	213	4465	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2673	3503
4774	-1.10	-146.6	369.4	-7.0	228	4775	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2673	3503
5083	-1.10	-146.6	390.5	-6.8	243	5084	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2672	3503
5392	-1.10	-146.6	409.7	-6.2	258	5396	0.00	2.17	0.00	0.000	4	0.000	0.091	2196	3792	3503
5438	-1.10	-146.6	412.7	-6.6	260	5442	0.00	2.05	0.00	0.000	6	0.000	0.056	2196	2664	3502
5771	-1.10	-146.6	435.4	-6.8	276	5772	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2664	3503
6080	-1.10	-146.6	457.0	-7.1	291	6082	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2663	3502
6390	-1.10	-146.6	478.8	-7.0	306	6392	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2664	3503
6699	-1.10	-146.6	499.7	-6.7	321	6700	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2664	3502
7008	-1.10	-146.6	520.3	-6.4	336	7010	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2663	3503
7318	-1.10	-146.6	538.8	-5.8	351	7322	0.00	2.17	0.00	0.000	4	0.000	0.088	2196	3788	3503
7374	-1.10	-146.6	542.4	-6.7	353	7378	0.00	2.03	0.00	0.000	6	0.000	0.053	2196	2662	3503
7696	-1.10	-146.6	561.8	-6.2	369	7699	0.00	2.20	0.00	0.000	4	0.000	0.091	2196	3795	3503
7742	-1.10	-146.6	565.0	-7.2	371	7746	0.00	2.00	0.00	0.000	6	0.000	0.051	2196	2669	3503
8075	-1.10	-146.6	588.1	-6.9	387	8076	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2669	3503
8384	-1.10	-146.6	609.8	-7.0	402	8385	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2669	3503
8694	-1.10	-146.6	631.6	-7.0	417	8695	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2669	3503
9003	-1.10	-146.6	655.9	-8.0	432	9004	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2669	3502
9312	-1.10	-146.6	682.3	-8.6	447	9316	0.00	2.15	0.00	0.000	4	0.000	0.089	2196	3786	3502
9374	-1.10	-146.6	687.7	-9.3	449	9380	0.00	2.00	0.00	0.000	6	0.000	0.051	2196	2664	3503
9690	-1.10	-146.6	714.2	-8.2	465	9694	0.00	2.58	0.00	0.000	4	0.000	0.067	2196	1248	3502
9740	-1.10	-146.6	718.2	-8.7	467	9744	0.00	2.62	0.00	0.000	6	0.000	0.061	2196	2684	3502
10056	-1.10	-146.6	743.6	-8.4	482	10059	0.00	2.10	0.00	0.000	4	0.000	0.090	2196	3786	3501
10156	-1.10	-146.6	752.5	-8.6	486	10160	0.00	2.00	0.00	0.000	6	0.000	0.051	2196	2666	3502
10478	-1.10	-146.6	779.2	-8.7	502	10481	0.00	2.17	0.00	0.000	4	0.000	0.093	2196	3785	3502
10528	-1.10	-146.6	784.2	-10.2	504	10532	0.00	1.98	0.00	0.000	6	0.000	0.051	2196	2675	3502
10749	end dive: BOTTOM_OBSTACLE_DETECTED
state	10749	begin apogee
10758	-0.42	0.0	802.3	7.5	515	10886	0.75	0.00	124.70	1.243	6	0.099	0.000	2344	2077	2903
10886	end apogee: CONTROL_FINISHED_OK
state	10887	begin climb
10890	1.10	146.6	809.1	0.0	521	11022	1.55	2.72	122.80	1.203	4	0.054	0.061	2679	3494	2304
11278	1.13	169.8	799.9	5.4	538	11306	0.00	2.58	21.33	1.121	6	0.000	0.044	2679	2060	2209
11615	1.14	173.5	781.6	5.9	555	11625	0.00	2.72	4.88	0.827	4	0.000	0.064	2678	3505	2194
11738	1.14	173.5	773.5	6.5	560	11744	0.00	2.55	0.00	0.000	6	0.000	0.044	2679	2074	2194
12054	1.16	193.9	755.0	5.4	576	12079	0.00	2.78	18.77	1.121	4	0.000	0.067	2679	3500	2111
12131	1.19	218.2	750.6	5.3	579	12162	0.00	2.58	21.92	1.123	6	0.000	0.044	2679	2071	2012
12472	1.25	263.9	732.8	4.7	596	12518	0.15	2.75	39.60	1.151	4	0.040	0.066	2726	3498	1826
12546	1.25	263.9	727.9	6.8	599	12551	0.00	2.58	0.00	0.000	6	0.000	0.044	2726	2071	1826
12862	1.25	263.9	705.5	7.5	614	12867	0.00	2.55	0.00	0.000	4	0.000	0.058	2726	666	1826
12904	1.25	263.9	702.2	7.7	616	12908	0.00	2.50	0.00	0.000	6	0.000	0.038	2726	2088	1825
13230	1.25	263.9	675.0	8.3	632	13231	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2088	1825
13540	1.25	263.9	647.3	8.8	647	13541	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2088	1825
13849	1.25	263.9	620.0	9.0	662	13850	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2088	1825
14158	1.25	263.9	593.0	8.6	677	14162	0.00	2.58	0.00	0.000	4	0.000	0.065	2726	3494	1825
14220	1.25	263.9	587.3	8.7	680	14225	0.00	2.53	0.00	0.000	6	0.000	0.041	2726	2066	1825
14553	1.25	263.9	557.4	8.9	696	14555	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2066	1825
14863	1.25	263.9	529.3	9.0	711	14867	0.00	2.62	0.00	0.000	4	0.000	0.064	2726	3483	1825
14890	1.25	263.9	526.6	9.2	712	14895	0.00	2.50	0.00	0.000	6	0.000	0.042	2726	2072	1825
15206	1.25	263.9	496.9	9.3	727	15207	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2072	1825
15515	1.25	263.9	468.4	8.8	742	15519	0.00	2.60	0.00	0.000	4	0.000	0.064	2726	3482	1825
15549	1.25	263.9	465.6	8.4	743	15553	0.00	2.50	0.00	0.000	6	0.000	0.043	2726	2074	1825
15865	1.25	263.9	437.6	8.9	758	15866	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2074	1826
16174	1.25	263.9	410.1	8.9	773	16175	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2074	1826
16484	1.25	263.9	382.4	8.8	788	16485	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2074	1826
16792	1.25	263.9	355.2	8.8	803	16797	0.00	2.60	0.00	0.000	4	0.000	0.067	2726	3481	1826
16825	1.25	263.9	352.3	9.4	804	16831	0.00	2.53	0.00	0.000	6	0.000	0.046	2726	2066	1826
17141	1.25	263.9	323.7	9.2	820	17142	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2066	1827
17451	1.25	263.9	297.1	8.6	835	17452	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2066	1827
17760	1.25	263.9	272.7	7.5	850	17761	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2066	1827
18069	1.25	263.9	250.5	6.7	865	18073	0.00	2.65	0.00	0.000	4	0.000	0.068	2726	3484	1827
18097	1.25	263.9	248.4	7.2	866	18101	0.00	2.53	0.00	0.000	6	0.000	0.048	2726	2072	1827
18413	1.25	263.9	225.1	7.6	881	18414	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2072	1827
18722	1.25	263.9	199.4	8.5	896	18723	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2072	1827
19032	1.25	263.9	172.1	8.7	911	19036	0.00	2.65	0.00	0.000	4	0.000	0.070	2726	3488	1827
19065	1.25	263.9	168.9	10.0	912	19071	0.00	2.55	0.00	0.000	6	0.000	0.049	2726	2068	1827
19381	1.25	263.9	140.4	9.5	928	19382	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2068	1827
19691	1.25	263.9	112.4	8.7	943	19692	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2068	1827
20000	1.25	263.9	85.6	8.7	958	20004	0.00	2.55	0.00	0.000	4	0.000	0.064	2726	665	1828
20044	1.25	263.9	81.2	8.5	960	20049	0.00	2.47	0.00	0.000	6	0.000	0.041	2726	2072	1827
20367	1.25	263.9	53.5	8.7	976	20371	0.00	2.62	0.00	0.000	4	0.000	0.069	2726	3493	1828
20407	1.25	263.9	49.8	8.8	978	20411	0.00	2.55	0.00	0.000	6	0.000	0.050	2726	2074	1828
20740	1.25	263.9	22.0	8.2	994	20741	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2074	1828
20986	end climb: SURFACE_DEPTH_REACHED
state	20986	begin surface coast
21006	end surface coast: CONTROL_FINISHED_OK
state	21006	begin surface